Control of DC Motor Using Integral State Feedback and Comparison with PID: Simulation and Arduino Implementation

Ma’arif, Alfian; Setiawan, Naufal Rahmat

doi:10.18196/jrc.25122

Cited by 48 publications

(35 citation statements)

References 51 publications

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“…The torque developed on the motor's axis is opposite to that one due to the viscous friction, using the Newton' Law for rotation, and considering the inertia connected to the motor's axis (Iswanto et al, 2021;Ma'arif & Setiawan, 2021):…”

Section: Motor's Modelmentioning

confidence: 99%

Discrete-Time Modelling and State Feedback Control of a DC Motor with Inertial Load

Alves

Breganon²,

Pivovar³

et al. 2022

JART

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The position control in electromechanical systems can many times be performed by direct current (DC) motors. Due to this, the control of these devices is studied via several control strategies in the literature. In this work, the modeling of a direct current motor with coupled load is presented, including the experiments performed to obtain the main system’s parameters and the dynamic’s discretization process. The discretization is taking into account in order to allow the controller to be performed by a computer. From the obtained model, the state feedback control approach along with an observer was explored to create a digital controller for the considered DC motor. The obtained results, both from the simulation and the experimental setup, show that the obtained model is valid. Moreover, it is possible to conclude that the proposed control strategy conducts to appropriate results both in simulations and in experimental tests.

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Section: Motor's Modelmentioning

confidence: 99%

Discrete-Time Modelling and State Feedback Control of a DC Motor with Inertial Load

Alves

Breganon²,

Pivovar³

et al. 2022

JART

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show abstract

“…Dalam beberapa kasus pengendali berbasis full state feedback memiliki respon yang lebih baik jika dibandingkan dengan pengendali PID. Sebagaimana penelitian yang dilakukan oleh (Ma'arif & Setiawan, 2021), menggunakan metode kendali integral state feedback untuk studi kasus pengendalian motor DC. Pada penelitian tersebut, pengujian dilakukan secara implementasi menggunakan embedded system Arduino.…”

Section: Pendahuluanunclassified

Sistem Kendali Eddy Current Brakes Dinamometer menggunakan Linear Quadratic Regulator (LQR)

et al. 2021

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ABSTRAKMakalah ini memberikan analisis perbandingan antara teknik kendali klasik yaitu kendali PID dengan teknik kendali modern pada sistem Eddy current brakes dinamometer. Eddy current brakes merupakan sistem pengereman modern yang membutuhkan sebuah sistem kendali untuk menunjang kinerja pengereman. Selama ini kendali PID lebih sering digunakan, namun di beberapa kondisi dinilai kurang optimal. Dengan demikian, diperlukan pengembangan kendali yang modern dan optimal yaitu full state feedback Linear Quadratic Regulator (LQR). Perbandingan respon waktu pengereman disimulasikan menggunakan Matlab/Simulink. Hasil simulasi menunjukkan respon waktu pengereman pada kendali LQR lebih baik dibandingkan dengan kendali PID, dengan Ts = 2.12 detik, Tr = 1.18 detik, dan tanpa overshoot. Adapun kendali PID, meskipun menghasilkan Ts = 0.27 detik dan Tr = 0.18 detik, namun demikian masih terdapat overshoot sebesar 0.7%.Kata kunci: Eddy brakes, PID, LQR, Matlab ABSTRACTThis paper provides a comparative analysis between PID control as a classical control technique and modern control technique in the dinamometer Eddy current brakes system. Eddy current brakes is a modern braking system that requires a control system to support the braking performance. PID control is often used to be implemented but in some conditions it is less optimal. Therefore, it is necessary to develop a modern and optimal control, such as a full state feedback Linear Quadratic Regulator (LQR). The comparison of the braking time responses were simulated using Matlab/Simulink. The simulation results show that the response of LQR control is better than the PID, with Ts = 2.12 seconds, Tr = 1.18 seconds, and without overshoot. On the other side, PID control, although having Ts = 0.27 seconds and Tr = 0.18 seconds, there is still an overshoot about 0.7%.Keywords: Eddy brakes, PID, LQR, Matlab

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“…minimizing peak overshoot in the output signal response is critical to prevent any undesired process variation which may damage the actuated machinery in the long run. Similarly, minimizing control signal overshoots is critical to prevent damage against voltage spikes and enhance the service life of DC motors in industry [25,26].…”

Section: Introductionmentioning

confidence: 99%

Complex Order PIa+jbDc+jd Controller Design for a Fractional Order DC Motor System

Shah¹,

Sekhar²,

Iswanto³

et al. 2021

Adv. sci. technol. eng. syst. j.

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Fractional order controller DC motor Complex order controller Bode diagram Root locus Industry 4.0 implementation stipulates effective actuator control. In the present work, a complex order PI a+ jb D c+ jd (COPID) controller was designed for a fractional order model of a direct current (DC) motor system. For comparisons, the DC motor system model was also controlled using the conventional proportional integral (PI), proportional integral derivative (PID), proportional resonant (PR) and fractional order PID controllers (FOPID). Time domain results indicated that the PR controller performed exceedingly well for output signal responses, but fared poorly in case of control signal specifications. The PI controller responses suffered from high time domain characteristics for both control and output signals. The PID controller performed moderately in terms of time domain and peak overshoot metrics. The FOPID controller attained the best time domain characteristics, but was unable to effectively limit the control and output signal peak overshoots. It was only the COPID controller, that successfully minimised / eliminated peak overshoots in control and output signals (0.1 % and 0.0 % respectively). Moreover, the COPID controller was also successful in limiting the rise, peak and settling times. In addition, Bode diagram, root locus plot were obtained and system gain parameters were varied to confirm the robustness of the proposed COPID controller. Thus, COPID controller promises to be an effective solution towards accurate and robust actuator control in modern manufacturing.

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Control of DC Motor Using Integral State Feedback and Comparison with PID: Simulation and Arduino Implementation

Cited by 48 publications

References 51 publications

Discrete-Time Modelling and State Feedback Control of a DC Motor with Inertial Load

Discrete-Time Modelling and State Feedback Control of a DC Motor with Inertial Load

Sistem Kendali Eddy Current Brakes Dinamometer menggunakan Linear Quadratic Regulator (LQR)

Complex Order PIa+jbDc+jd Controller Design for a Fractional Order DC Motor System

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